Method for monitoring a vehicle convoy by means of vehicle-to-vehicle communication

A method for controlling a vehicle platoon containing at least two three vehicles, the at least three vehicles including a pair of vehicles comprising a first vehicle arranged directly ahead of a second vehicle in the vehicle platoon,

• wherein the pair of vehicles comprise a communication system configured to transmit and/or receive information by means of vehicle-to-vehicle communication, and
• wherein the second vehicle is designed to regulate control of the second vehicle based on values for at least one kinematic control parameter received from the first vehicle in order to adjust values for at least one kinematic state parameter of the second vehicle to kinematic targets,
• the method comprising:
• (a) determining a maximum delay time for the vehicle-to-vehicle communication such that at least one condition for maintaining a string stability of the vehicle platoon is fulfilled, the at least one condition depending on the kinematic targets and vehicle-specific control parameters, wherein the maximum delay time for the vehicle-to-vehicle communication corresponds to a maximum time interval between consecutive transmissions of values for the at least one kinematic control parameter from the first vehicle to the second vehicle without breaching the string stability;
• and
• (b) determining transmission resources for at least one data transmission session for the vehicle-to-vehicle communication between the first vehicle and the second vehicle based on the maximum delay time,
• wherein the transmission resources are determined such that the values for the at least one kinematic control parameter can be transmitted by the first vehicle using the transmission resources and received by the second vehicle in time intervals less than the maximum delay time.